// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <memory>

#include <rclcpp/rclcpp.hpp>

#include <std_msgs/msg/float64_multi_array.hpp>

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);

  std::shared_ptr<rclcpp::Node> node =
    std::make_shared<rclcpp::Node>("effort_test_node");

  auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
    "/effort_controllers/commands", 10);

  RCLCPP_INFO(node->get_logger(), "node created");

  std_msgs::msg::Float64MultiArray commands;

  using namespace std::chrono_literals;

  commands.data.push_back(0);
  publisher->publish(commands);
  std::this_thread::sleep_for(1s);

  commands.data[0] = 100;
  publisher->publish(commands);
  std::this_thread::sleep_for(1s);

  commands.data[0] = -200;
  publisher->publish(commands);
  std::this_thread::sleep_for(1s);

  commands.data[0] = 0;
  publisher->publish(commands);
  std::this_thread::sleep_for(1s);
  rclcpp::shutdown();

  return 0;
}
